Nonlinear system modeling method, device, electronic device and storage medium for motor

Abstract

The present invention provides a method, device, electronic device, and storage medium for modeling a nonlinear system of a motor. The method includes: obtaining a chirp signal of a first frequency band within the motor's operating frequency band and a chirp signal of a second frequency band within the motor's operating frequency band; using the chirp signal of the first frequency band to excite the motor to obtain a first output, and obtaining a high-order harmonic frequency response of the first frequency band based on the first output and the chirp signal of the first frequency band; using the chirp signal of the second frequency band to excite the motor to obtain a second output, and obtaining a high-order harmonic frequency response of the second frequency band based on the second output and the chirp signal of the second frequency band; and splicing the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band in the frequency domain to obtain a high-order harmonic frequency response of the motor's operating frequency band, wherein the high-order harmonic frequency response of the motor's operating frequency band serves as a nonlinear system model of the motor. The nonlinear system model of the motor obtained by the present invention has high accuracy.

Description

Technical field

[0001] The present invention relates to the field of tactile perception technology, and in particular to a nonlinear system modeling method, device, electronic device and storage medium for a motor. [Background Technology]

[0002] Linear motors, as tactile feedback devices that offer a better user experience, are increasingly being used in electronic devices such as mobile phones. Improving the accuracy of motor modeling is essential to achieve more precise control of linear motor systems.

[0003] However, when using the chirp signal system identification in the related art to model the working frequency band excitation signal of the motor, the accuracy of the obtained nonlinear system model of the motor is low. [Summary of the invention]

[0004] The object of the present invention is to provide a method, device, electronic device and storage medium for modeling a nonlinear system of a motor, so as to obtain a nonlinear system model of the motor with higher accuracy.

[0005] The technical solutions of the present invention are as follows:

[0006] In a first aspect, an embodiment of the present invention provides a nonlinear system modeling method for a motor, comprising:

[0007] Obtain a chirp signal of a first frequency band in the operating frequency band of the motor and a chirp signal of a second frequency band in the operating frequency band of the motor, where a start frequency of the first frequency band is the start frequency of the operating frequency band of the motor, a cutoff frequency of the second frequency band is the cutoff frequency of the operating frequency band of the motor, and the first frequency band and the second frequency band partially overlap;

[0008] Exciting the motor using the chirp signal in the first frequency band to obtain a first output, and obtaining a high-order harmonic frequency response in the first frequency band based on the first output and the chirp signal in the first frequency band;

[0009] Exciting the motor using the chirp signal in the second frequency band to obtain a second output, and obtaining a high-order harmonic frequency response in the second frequency band based on the second output and the chirp signal in the second frequency band;

[0010] The high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band are spliced in the frequency domain to obtain the high-order harmonic frequency response of the working frequency band of the motor. The high-order harmonic frequency response of the working frequency band of the motor is a nonlinear system model of the motor.

[0011] In the nonlinear system modeling method for a motor provided by an embodiment of the present invention, the method further includes:

[0012] Obtaining a first preset frequency and a second preset frequency, wherein the first preset frequency is less than the second preset frequency;

[0013] Determining a frequency band of the motor's operating frequency band that is less than or equal to the second preset frequency as a first frequency band;

[0014] Determining a frequency band greater than or equal to the first preset frequency in the operating frequency band of the motor as a second frequency band;

[0015] The step of splicing the higher harmonic frequency response of the first frequency band and the higher harmonic frequency response of the second frequency band in the frequency domain to obtain the higher harmonic frequency response of the working frequency band of the motor includes:

[0016] Acquire a third preset frequency, where the third preset frequency is between the first preset frequency and the second preset frequency;

[0017] Extracting a higher harmonic frequency response of a third frequency band from the higher harmonic frequency response of the first frequency band, wherein the starting frequency of the third frequency band is the starting frequency of the first frequency band, and the cutoff frequency of the third frequency band is the third preset frequency;

[0018] Extracting a higher harmonic frequency response of a fourth frequency band from the higher harmonic frequency response of the second frequency band, wherein the starting frequency of the fourth frequency band is the third preset frequency, and the cutoff frequency of the fourth frequency band is the cutoff frequency of the second frequency band;

[0019] The higher harmonic frequency response of the third frequency band and the higher harmonic frequency response of the fourth frequency band are spliced in the frequency domain to obtain the higher harmonic frequency response of the working frequency band of the motor.

[0020] In the nonlinear system modeling method for a motor provided by an embodiment of the present invention, the method further includes:

[0021] Obtaining a fourth preset frequency;

[0022] Determining a frequency band of the motor's operating frequency band that is less than or equal to the fourth preset frequency as a first frequency band;

[0023] A frequency band in the operating frequency band of the motor that is greater than or equal to the fourth preset frequency is determined as a second frequency band.

[0024] In the nonlinear system modeling method for a motor provided by an embodiment of the present invention, obtaining the high-order harmonic frequency response of the first frequency band based on the first output and the chirp signal of the first frequency band includes:

[0025] Applying Fourier transform to the first output to obtain a first frequency domain response;

[0026] Calculating a first response function of the motor system using the inverse signal of the chirp signal in the first frequency band in the frequency domain according to the first frequency domain response;

[0027] Using the first response function to obtain a first kernel function through conversion matrix conversion;

[0028] Obtaining a higher harmonic frequency response of the first frequency band based on the chirp signal of the first frequency band and the first kernel function;

[0029] The step of obtaining a high-order harmonic frequency response in the second frequency band according to the second output and the chirp signal in the second frequency band includes:

[0030] Applying Fourier transform to the second output to obtain a second frequency domain response;

[0031] Calculating a second response function of the motor system using the inverse signal of the chirp signal in the second frequency band in the frequency domain according to the second frequency domain response;

[0032] Using the second response function to obtain a second kernel function through conversion matrix conversion;

[0033] A high-order harmonic frequency response of the second frequency band is obtained by using the chirp signal of the second frequency band and the second kernel function.

[0034] In the nonlinear system modeling method of the motor provided in an embodiment of the present invention, the chirp signal is calculated using the following formula:

[0035]

[0036]

[0037] Among them, f1 is the starting frequency of the chirp signal, a(t) is the amplitude, t is time, that is, a(t) is a function of the frequency that changes with time, T is the duration of the chirp signal, and f2 is the cutoff frequency of the chirp signal.

[0038] In a second aspect, an embodiment of the present invention further provides a nonlinear system modeling method for a motor, comprising:

[0039] Acquire chirp signals of multiple different frequency bands within the operating frequency band of the motor, wherein among the multiple different frequency bands, a starting frequency of one frequency band is the starting frequency of the operating frequency band of the motor, and a cutoff frequency of one frequency band is the cutoff frequency of the operating frequency band of the motor, and the multiple different frequency bands may form the operating frequency band of the motor;

[0040] Using the chirp signal of each frequency band to excite the motor, and obtaining the output corresponding to each frequency band;

[0041] Obtaining a high-order harmonic frequency response of each frequency band according to the output corresponding to each frequency band and the chirp signal of each frequency band, so as to obtain high-order harmonic frequency responses of multiple frequency bands;

[0042] The high-order harmonic frequency responses of the plurality of frequency bands are spliced in the frequency domain to obtain the high-order harmonic frequency response of the working frequency band of the motor, and the high-order harmonic frequency response of the working frequency band of the motor is a nonlinear system model of the motor.

[0043] In a third aspect, an embodiment of the present invention further provides a nonlinear system modeling device for a motor, comprising:

[0044] an acquisition module, configured to acquire a chirp signal of a first frequency band in the operating frequency band of the motor and a chirp signal of a second frequency band in the operating frequency band of the motor, wherein a start frequency of the first frequency band is the start frequency of the operating frequency band of the motor, a cutoff frequency of the second frequency band is the cutoff frequency of the operating frequency band of the motor, and the first frequency band and the second frequency band partially overlap;

[0045] a first excitation module, configured to excite the motor using the chirp signal in the first frequency band to obtain a first output, and obtain a high-order harmonic frequency response in the first frequency band based on the first output and the chirp signal in the first frequency band;

[0046] a second excitation module, configured to excite the motor using the chirp signal in the second frequency band to obtain a second output, and obtain a high-order harmonic frequency response in the second frequency band based on the second output and the chirp signal in the second frequency band;

[0047] A splicing module is used to splice the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band in the frequency domain to obtain the high-order harmonic frequency response of the working frequency band of the motor, where the high-order harmonic frequency response of the working frequency band of the motor is a nonlinear system model of the motor.

[0048] In a fourth aspect, an embodiment of the present invention further provides a nonlinear system modeling device for a motor, comprising:

[0049] an acquisition module, configured to acquire chirp signals of a plurality of different frequency bands within an operating frequency band of the motor, wherein a starting frequency of one frequency band is the starting frequency of the operating frequency band of the motor, and a cutoff frequency of one frequency band is the cutoff frequency of the operating frequency band of the motor, and the plurality of different frequency bands may form the operating frequency band of the motor;

[0050] An excitation module, configured to excite the motor using the chirp signal of each frequency band to obtain an output corresponding to each frequency band;

[0051] a processing module, configured to obtain a higher harmonic frequency response of each frequency band according to the output corresponding to each frequency band and the chirp signal of each frequency band, so as to obtain higher harmonic frequency responses of a plurality of frequency bands;

[0052] The splicing module is used to splice the higher harmonic frequency responses of multiple frequency bands in the frequency domain to obtain the higher harmonic frequency response of the working frequency band of the motor, and the higher harmonic frequency response of the working frequency band of the motor is the nonlinear system model of the motor.

[0053] In a fifth aspect, an embodiment of the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the nonlinear system modeling method of the motor as described above are implemented.

[0054] In a sixth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the nonlinear system modeling method of the motor as described above are implemented.

[0055] The beneficial effect of the present invention is that the chirp signal of the working frequency band of the motor is divided into the chirp signal of the first frequency band and the chirp signal of the second frequency band, and the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band are obtained based on the chirp signal of the first frequency band and the chirp signal of the second frequency band respectively, and the high-order harmonic frequency response of the working frequency band of the motor is finally spliced together based on the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band, thereby completing the modeling of the excitation signal of the working frequency band of the motor. Since the accuracy of the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band are both high, the high-order harmonic frequency response of the working frequency band of the motor obtained by finally splicing together the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band, that is, the accuracy of the nonlinear system model of the motor is high.

Brief Description of the Drawings

[0056] Figure 1 A first flow chart of a nonlinear system modeling method for a motor provided by an embodiment of the present invention;

[0057] Figure 2 A second flow chart of the nonlinear system modeling method for a motor provided by an embodiment of the present invention;

[0058] Figure 3 A schematic diagram of the first test result provided by an embodiment of the present invention;

[0059] Figure 4 A schematic diagram of a second test result provided by an embodiment of the present invention;

[0060] Figure 5 A schematic diagram of a third test result provided by an embodiment of the present invention;

[0061] Figure 6 A schematic diagram of a fourth test result provided by an embodiment of the present invention;

[0062] Figure 7 A third flow chart of the nonlinear system modeling method for a motor provided by an embodiment of the present invention;

[0063] Figure 8 A schematic diagram of a first structural embodiment of a nonlinear system modeling device for a motor provided by an embodiment of the present invention;

[0064] Figure 9 A second structural schematic diagram of the nonlinear system modeling device for a motor provided by an embodiment of the present invention;

[0065] Figure 10 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. [Specific implementation method]

[0066] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0067] The embodiment of the present invention is implemented as a nonlinear motor system modeling device. The nonlinear motor system modeling device can be an electronic device. The nonlinear motor system modeling device can also be integrated into an electronic device. The following description further illustrates the nonlinear motor system modeling device as an electronic device.

[0068] See also Figure 1 , Figure 1 A first flow chart of a nonlinear system modeling method for a motor provided by an embodiment of the present invention may include:

[0069] 101. Obtain a chirp signal of a first frequency band in the working frequency band of the motor and a chirp signal of a second frequency band in the working frequency band of the motor, where the starting frequency of the first frequency band is the starting frequency of the working frequency band of the motor, the cutoff frequency of the second frequency band is the cutoff frequency of the working frequency band of the motor, and the first frequency band and the second frequency band partially overlap.

[0070] Linear motor systems do not conform to the Hammerstein model. The kernel function differs at different voltages, and applying a kernel function for one voltage to another can result in significant errors. Because the limit voltage at f0 is small and anisotropic shelling occurs at specific frequencies at high voltages (shelling occurs when the motor vibrator hits the motor's outer wall, a phenomenon that should be avoided in practice), the amplitude of the constant-amplitude chirp signal that can be used for identification is limited to a small voltage range, making it impossible to model the system function at high voltages.

[0071] Variable-amplitude exponential chirp signal system identification avoids this limitation by designing different frequency amplitudes. Like step sequence signals, the frequency and amplitude of the sequence can be arbitrarily designed. A step signal is a continuous signal with a single frequency in segments, with a gradual frequency change between each segment, like a staircase. A chirp signal, on the other hand, is a continuous signal with a continuously changing frequency.

[0072] However, the accuracy of the nonlinear system model of the motor obtained by directly identifying the chirp signal in the motor's operating frequency band (such as the 5Hz to 500Hz frequency band) using a variable amplitude exponential chirp signal is low, such as having a large error in the low frequency band (5Hz to 120Hz).

[0073] By dividing the motor's operating frequency band into two partially overlapping frequency bands, such as a first frequency band and a second frequency band, the nonlinear system models of the motor obtained by performing model identification on the chirp signals in the first frequency band and the chirp signals in the second frequency band, respectively, are both highly accurate. The first frequency band and the second frequency band partially overlap. For example, the first frequency band can be 5Hz to 150Hz, and the second frequency band can be 100Hz to 500Hz.

[0074] In an embodiment of the present invention, a chirp signal of a first frequency band in the working frequency band of the motor and a chirp signal of a second frequency band in the working frequency band of the motor can be obtained. The starting frequency of the first frequency band is the starting frequency of the working frequency band of the motor, and the cutoff frequency of the second frequency band is the cutoff frequency of the working frequency band of the motor. As for the cutoff frequency of the first frequency band and the starting frequency of the second frequency band, the embodiment of the present invention may not be limited, and it shall be subject to actual needs. For example, assuming that the working frequency band of the motor is a frequency band of 5Hz to 500Hz, a chirp signal of a frequency band of 5Hz to 150Hz and a chirp signal of a frequency band of 100Hz to 500Hz can be obtained; or, a chirp signal of a frequency band of 5Hz to 130Hz and a chirp signal of a frequency band of 130Hz to 500Hz can be obtained. The chirp signal of the first frequency band and the chirp signal of the second frequency band can be generated by an electronic device according to certain rules.

[0075] It should be noted that the frequency range of 5 Hz to 500 Hz is only an example of the operating frequency range of the motor in the embodiment of the present invention and is not intended to limit the present invention.

[0076] 102. Use the chirp signal of the first frequency band to excite the motor to obtain a first output, and obtain a high-order harmonic frequency response of the first frequency band based on the first output and the chirp signal of the first frequency band.

[0077] For example, when the first frequency range is 5 Hz to 150 Hz and the second frequency range is 100 Hz to 500 Hz, a chirp signal in the 5 Hz to 150 Hz frequency range can be used to excite the motor to obtain a first output. Based on the first output and the chirp signal in the 5 Hz to 150 Hz frequency range, a high-order harmonic frequency response in the 5 Hz to 150 Hz frequency range can be obtained. This high-order harmonic frequency response in the 5 Hz to 150 Hz frequency range has high accuracy.

[0078] 103. Use the chirp signal in the second frequency band to excite the motor to obtain a second output, and obtain a high-order harmonic frequency response in the second frequency band based on the second output and the chirp signal in the second frequency band.

[0079] For example, when the second frequency range is 5 Hz to 150 Hz and the second frequency range is 100 Hz to 500 Hz, the chirp signal in the 100 Hz to 500 Hz frequency range can be used to excite the motor to obtain a second output. Based on the second output and the chirp signal in the 100 Hz to 500 Hz frequency range, a high-order harmonic frequency response in the 100 Hz to 500 Hz frequency range can be obtained. This high-order harmonic frequency response in the 100 Hz to 500 Hz frequency range has high accuracy.

[0080] 104. The high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band are spliced in the frequency domain to obtain the high-order harmonic frequency response of the working frequency band of the motor. The high-order harmonic frequency response of the working frequency band of the motor is a nonlinear system model of the motor.

[0081] For example, when the first frequency band is 5 Hz to 150 Hz and the second frequency band is 100 Hz to 500 Hz, after obtaining the high-order harmonic frequency response of the 5 Hz to 150 Hz band and the high-order harmonic frequency response of the 100 Hz to 500 Hz band, the high-order harmonic frequency response of the 5 Hz to 150 Hz band and the high-order harmonic frequency response of the 100 Hz to 500 Hz band can be spliced in the frequency domain to obtain the high-order harmonic frequency response of the 5 Hz to 500 Hz band, that is, the high-order harmonic frequency response of the motor's operating frequency band. The high-order harmonic frequency response of the motor's operating frequency band is the nonlinear system model of the motor, such as a linear motor.

[0082] It should be noted that the embodiment of the present invention does not limit the specific splicing method. Any splicing method can be used to splice the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band in the frequency domain to obtain the high-order harmonic frequency response of the working frequency band of the motor.

[0083] It can be understood that the nonlinear system model based on the linear motor can achieve precise control of the linear motor system.

[0084] In an embodiment of the present invention, the chirp signal of the motor's operating frequency band is divided into a chirp signal of a first frequency band and a chirp signal of a second frequency band, and a high-order harmonic frequency response of the first frequency band and a high-order harmonic frequency response of the second frequency band are obtained based on the chirp signal of the first frequency band and the chirp signal of the second frequency band, respectively. The high-order harmonic frequency response of the motor's operating frequency band is ultimately spliced together based on the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band, thereby completing the modeling of the motor's operating frequency band excitation signal. Since the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band are both highly accurate, the high-order harmonic frequency response of the motor's operating frequency band, which is ultimately spliced together based on the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band, is highly accurate, that is, the nonlinear system model of the motor is highly accurate.

[0085] In some embodiments, the nonlinear system modeling method of the motor may further include:

[0086] Obtaining a first preset frequency and a second preset frequency, wherein the first preset frequency is less than the second preset frequency;

[0087] Determining a frequency band of the motor's operating frequency band that is less than or equal to the second preset frequency as a first frequency band;

[0088] Determining a frequency band greater than or equal to the first preset frequency in the operating frequency band of the motor as a second frequency band;

[0089] The high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band are spliced in the frequency domain to obtain the high-order harmonic frequency response of the motor's operating frequency band, including:

[0090] Obtaining a third preset frequency, where the third preset frequency is between the first preset frequency and the second preset frequency;

[0091] Extracting a third frequency band of higher harmonic frequency responses from the first frequency band, wherein the starting frequency of the third frequency band is the starting frequency of the first frequency band, and the cutoff frequency of the third frequency band is the third preset frequency;

[0092] Extracting a fourth frequency band of higher harmonic frequency responses from the second frequency band, wherein the starting frequency of the fourth frequency band is the third preset frequency, and the cutoff frequency of the fourth frequency band is the cutoff frequency of the second frequency band of higher harmonic frequency responses;

[0093] The high-order harmonic frequency response of the third frequency band and the high-order harmonic frequency response of the fourth frequency band are spliced in the frequency domain to obtain the high-order harmonic frequency response of the working frequency band of the motor.

[0094] The first preset frequency, the second preset frequency, and the third preset frequency can be set by a technician based on experience or experiments. For example, the first preset frequency can be set to 100 Hz, the second preset frequency can be set to 150 Hz, and the third preset frequency can be set to 120 Hz. For another example, the first preset frequency can be set to 110 Hz, the second preset frequency can be set to 140 Hz, and the third preset frequency can be set to 130 Hz.

[0095] In some embodiments, when identifying a linear motor system model in the low frequency range (5 Hz to 150 Hz), inaccurate identification results may occur in the frequency range of 140 Hz to 150 Hz. When identifying a linear motor system model in the high frequency range (100 Hz to 500 Hz), the identification results may decrease between 100 Hz and 110 Hz. To eliminate this inaccuracy, a first preset frequency and a second preset frequency may be selected from the frequency range of 110 Hz to 140 Hz. For example, the first preset frequency may be 110 Hz and the second preset frequency may be 140 Hz; alternatively, the first preset frequency may be 120 Hz and the second preset frequency may be 130 Hz, and so on. In some embodiments, to further improve accuracy, when selecting the first preset frequency and the second preset frequency from the frequency range of 110 Hz to 140 Hz, the endpoint values may not be selected, i.e., 110 Hz and 140 Hz may be used as the first preset frequency and the second preset frequency, respectively.

[0096] In some embodiments, when identifying the linear motor system model in the low frequency band (5Hz to 150Hz), inaccurate identification results may occur in the frequency range of 140Hz to 150Hz; when identifying the linear motor system model in the high frequency band (100Hz to 500Hz), the identification results may decrease from 100Hz to 110Hz. To eliminate this inaccuracy, when the first preset frequency is less than or equal to 110Hz and the second preset frequency is greater than or equal to 140Hz, a third preset frequency may be selected from the frequency range of 110Hz to 140Hz. For example, the third preset frequency may be 120Hz, 125Hz, or 130Hz. In some embodiments, to further improve accuracy, when selecting the third preset frequency from the frequency range of 110Hz to 140Hz, the endpoint values, i.e., 110Hz and 140Hz, may not be selected as the third preset frequency.

[0097] For example, assuming that the operating frequency range of the motor is 5 Hz to 500 Hz, the first preset frequency is 100 Hz, and the second preset frequency is 150 Hz, then the first frequency range is 5 Hz to 150 Hz, and the second frequency range is 100 Hz to 500 Hz.

[0098] For another example, assuming that the operating frequency range of the motor is 5Hz to 500Hz, the first preset frequency is 110Hz, and the second preset frequency is 140Hz, then the first frequency range is 5Hz to 140Hz, and the second frequency range is 110Hz to 500Hz.

[0099] For another example, assuming that the operating frequency range of the motor is 5Hz to 500Hz, the first preset frequency is 110Hz, and the second preset frequency is 130Hz, then the first frequency range is 5Hz to 130Hz, and the second frequency range is 110Hz to 500Hz.

[0100] For example, assuming that the operating frequency band of the motor is 5Hz to 500Hz, the third preset frequency is 120Hz, the high-order harmonic frequency response of the first frequency band is the high-order harmonic frequency response of the frequency band of 5 to 150Hz, and the high-order harmonic frequency response of the second frequency band is the high-order harmonic frequency response of the frequency band of 100Hz to 500Hz, then the high-order harmonic frequency response of the third frequency band is the high-order harmonic frequency response of the frequency band of 5Hz to 120Hz, and the high-order harmonic frequency response of the fourth frequency band is the high-order harmonic frequency response of the frequency band of 120Hz to 500Hz.

[0101] For example, assuming the third frequency band has a higher harmonic frequency response of 5 Hz to 120 Hz, and the fourth frequency band has a higher harmonic frequency response of 120 Hz to 500 Hz, the higher harmonic frequency response of 5 Hz to 120 Hz and 120 Hz to 500 Hz can be concatenated in the frequency domain to obtain a higher harmonic frequency response of 5 Hz to 500 Hz. This higher harmonic frequency response of 5 Hz to 500 Hz can serve as a nonlinear system model for the linear motor.

[0102] In some embodiments, the nonlinear system modeling method of the motor may further include:

[0103] Obtaining a fourth preset frequency;

[0104] Determining a frequency band of the motor's operating frequency band that is less than or equal to a fourth preset frequency as a first frequency band;

[0105] A frequency band in the operating frequency band of the motor that is greater than or equal to the fourth preset frequency is determined as the second frequency band.

[0106] Among them, the fourth preset frequency can be set by the technician based on experience or experiments. For example, when the linear motor system model is identified in the low frequency band (5Hz to 150Hz), the identification results at the frequency range of 140Hz to 150Hz will be inaccurate; when the linear motor system model is identified in the high frequency band (100Hz to 500Hz), the identification results from 100Hz to 110Hz will decrease. In order to eliminate this inaccuracy, the fourth preset frequency can be selected from the frequency band of 110Hz to 140Hz. For example, the fourth preset frequency can be 120Hz, 130Hz, and 135Hz, etc. In some embodiments, in order to further improve the accuracy, the fourth preset frequency is selected from the frequency band of 110Hz to 140Hz, and the endpoint values, i.e., 110Hz and 140Hz, may not be selected as the fourth preset frequency.

[0107] Assuming that the operating frequency range of the motor is 5 Hz to 500 Hz and the fourth preset frequency is 120 Hz, the first frequency range is 5 Hz to 120 Hz and the second frequency range is 120 Hz to 500 Hz.

[0108] In some embodiments, obtaining a high-order harmonic frequency response of the first frequency band according to the first output and the chirp signal of the first frequency band may include:

[0109] Applying Fourier transform to the first output to obtain a first frequency domain response;

[0110] The first response function of the motor system is calculated by frequency domain analysis using the inverse signal of the chirp signal in the first frequency band according to the first frequency domain response;

[0111] Use the first response function to obtain the first kernel function through transformation matrix;

[0112] Obtaining a high-order harmonic frequency response of the first frequency band by using the chirp signal of the first frequency band and the first kernel function;

[0113] Obtaining a high-order harmonic frequency response of the second frequency band according to the second output and the chirp signal of the second frequency band may include:

[0114] Applying Fourier transform to the second output to obtain a second frequency domain response;

[0115] A second response function of the motor system is calculated using an inverse signal of the chirp signal in the second frequency band in the frequency domain according to the second frequency domain response;

[0116] Use the second response function to obtain the second kernel function through transformation matrix;

[0117] The high-order harmonic frequency response of the second frequency band is obtained by the chirp signal of the second frequency band and the second kernel function.

[0118] The frequency domain response can be obtained according to formula (1).

[0119] Y=fft(y) (1)

[0120] Wherein, y is the output, such as the first output or the second output, and Y is the frequency domain response, such as the first frequency domain response or the second frequency domain response.

[0121] The response function can be obtained according to formula (2).

[0122] H(t)=Y*X_*1 / a(t) (2)

[0123] Wherein, Y is the frequency domain response, such as the first frequency domain response or the second frequency domain response, X_ is the frequency domain analysis of the inverse signal of the chirp signal, such as the frequency domain analysis of the inverse signal of the chirp signal in the first frequency band or the frequency domain analysis of the inverse signal of the chirp signal in the second frequency band, and a(t) is the amplitude.

[0124] The kernel function can be obtained according to formula (3).

[0125] K i (t) = AH i (t) (3)

[0126] Among them, K i (t) is the kernel function, such as the first kernel function or the second kernel function, A is the transformation matrix, H i (t) represents the motor system response of the i-th harmonic response, where i is a natural number.

[0127] Where a0 is the constant amplitude of a(t). The relationship between the two is: a0 is the constant amplitude of a(t). The formula between a(t) and a0 is: a(t) = a0·γ(t), which represents the normalized variable voltage curve. In practice, the amplitude a(t) is mostly constant at a0, and is only reduced at certain frequencies where motor casing is prone to cracking.

[0128] When the order of the kernel function is 5, the transformation matrix A is expressed as:

[0129]

[0130] The high-order harmonic frequency response can be obtained according to formula (4).

[0131] y_est(t)=∑ i x i (t)*K i (t) (4)

[0132] Wherein, y_est(t) is the high-order harmonic frequency response, such as the high-order harmonic frequency response of the first frequency band or the high-order harmonic frequency response of the second frequency band, t is time, x(t) is the input chirp signal, such as the chirp signal of the first frequency band or the chirp signal of the second frequency band, K i (t) is an i-th order kernel function, such as an i-th order first kernel function or an i-th order second kernel function, where i is a natural number.

[0133] In an embodiment of the present invention, after obtaining a chirp signal in the frequency band of 5 Hz to 150 Hz, the chirp signal in the frequency band of 5 Hz to 150 Hz can be used to excite the motor to obtain a first output. After obtaining the first output, a first frequency domain response can be obtained based on the first output and formula (1). After obtaining the first frequency domain response, a first response function of the motor system can be obtained based on the first frequency domain response, the inverse signal frequency domain analysis of the chirp signal in the frequency band of 5 Hz to 150 Hz, and formula (2). After obtaining the first response function, a first kernel function can be obtained based on the first response function and formula (3). After obtaining the first kernel function, a high-order harmonic frequency response of the first frequency band can be obtained based on the chirp signal in the frequency band of 5 Hz to 150 Hz, the first kernel function, and formula (4).

[0134] Similarly, in an embodiment of the present invention, after obtaining a chirp signal in the frequency band of 100 Hz to 5000 Hz, the chirp signal in the frequency band of 100 Hz to 500 Hz can be used to excite the motor to obtain a second output. After obtaining the second output, a second frequency domain response can be obtained based on the second output and formula (1). After obtaining the second frequency domain response, a second response function of the motor system can be obtained based on the second frequency domain response, the inverse signal frequency domain analysis of the chirp signal in the frequency band of 5 Hz to 150 Hz, and formula (2). After obtaining the second response function, a second kernel function can be obtained based on the second response function and formula (3). After obtaining the second kernel function, a high-order harmonic frequency response of the second frequency band can be obtained based on the chirp signal in the frequency band of 5 Hz to 150 Hz, the second kernel function, and formula (4).

[0135] In some embodiments, the chirp signal is calculated using formula (5):

[0136]

[0137] in,

[0138] Among them, f1 is the starting frequency of the chirp signal, a(t) is the amplitude, t is time, that is, a(t) is a function of the frequency that changes with time, T is the duration of the chirp signal, and f2 is the cutoff frequency of the chirp signal.

[0139] For example, when the first frequency band is 5Hz to 150Hz, 5Hz can be used as f1 and 150Hz as f2, and the chirp signal of the first frequency band can be obtained by substituting them into formula (5). Similarly, when the second frequency band is 100Hz to 500Hz, 100Hz can be used as f1 and 500Hz as f2, and the chirp signal of the second frequency band can be obtained by substituting them into formula (5).

[0140] See also Figure 2 , Figure 2 A second flow chart of a nonlinear system modeling method for a motor provided by an embodiment of the present invention may include:

[0141] 201. Obtain a first preset frequency and a second preset frequency, where the first preset frequency is less than the second preset frequency.

[0142] The first preset frequency and the second preset frequency can be set by a technician based on experience or experiments. For example, the first preset frequency can be set to 100 Hz and the second preset frequency can be set to 150 Hz. For another example, the first preset frequency can be set to 110 Hz and the second preset frequency can be set to 140 Hz.

[0143] In some embodiments, when identifying a linear motor system model in the low frequency range (5 Hz to 150 Hz), inaccurate identification results may occur in the frequency range of 140 Hz to 150 Hz. When identifying a linear motor system model in the high frequency range (100 Hz to 500 Hz), the identification results may decrease between 100 Hz and 110 Hz. To eliminate this inaccuracy, a first preset frequency and a second preset frequency may be selected from the frequency range of 110 Hz to 140 Hz. For example, the first preset frequency may be 110 Hz and the second preset frequency may be 140 Hz; alternatively, the first preset frequency may be 120 Hz and the second preset frequency may be 130 Hz, and so on. In some embodiments, to further improve accuracy, when selecting the first preset frequency and the second preset frequency from the frequency range of 110 Hz to 140 Hz, the endpoint values may not be selected, i.e., 110 Hz and 140 Hz may be used as the first preset frequency and the second preset frequency, respectively.

[0144] 202. Determine a frequency band in the operating frequency band of the motor that is less than or equal to the second preset frequency as a first frequency band.

[0145] 203. Determine a frequency band in the operating frequency band of the motor that is greater than or equal to the first preset frequency as a second frequency band.

[0146] For example, assuming that the operating frequency range of the motor is 5 Hz to 500 Hz, the first preset frequency is 100 Hz, and the second preset frequency is 150 Hz, then the first frequency range is 5 Hz to 150 Hz, and the second frequency range is 100 Hz to 500 Hz.

[0147] For another example, assuming that the operating frequency range of the motor is 5Hz to 500Hz, the first preset frequency is 110Hz, and the second preset frequency is 140Hz, then the first frequency range is 5Hz to 140Hz, and the second frequency range is 110Hz to 500Hz.

[0148] For another example, assuming that the operating frequency range of the motor is 5Hz to 500Hz, the first preset frequency is 110Hz, and the second preset frequency is 130Hz, then the first frequency range is 5Hz to 130Hz, and the second frequency range is 110Hz to 500Hz.

[0149] 204. Acquire a chirp signal in a first frequency band and a chirp signal in a second frequency band.

[0150] The chirp signal can be calculated using formula (5). For example, when the first frequency band is 5 Hz to 150 Hz, 5 Hz can be used as f1 and 150 Hz as f2, and these values are substituted into formula (5) to obtain the chirp signal for the first frequency band. Similarly, when the second frequency band is 100 Hz to 500 Hz, 100 Hz can be used as f1 and 500 Hz as f2, and these values are substituted into formula (5) to obtain the chirp signal for the second frequency band.

[0151] 205. Excite the motor using the chirp signal of the first frequency band to obtain a first output, and obtain a high-order harmonic frequency response of the first frequency band based on the first output and the chirp signal of the first frequency band.

[0152] 206. Excite the motor using the chirp signal in the second frequency band to obtain a second output, and obtain a high-order harmonic frequency response in the second frequency band based on the second output and the chirp signal in the second frequency band.

[0153] In an embodiment of the present invention, after obtaining a chirp signal in the frequency band of 5 Hz to 150 Hz, the chirp signal in the frequency band of 5 Hz to 150 Hz can be used to excite the motor to obtain a first output. After obtaining the first output, a first frequency domain response can be obtained based on the first output and formula (1). After obtaining the first frequency domain response, a first response function of the motor system can be obtained based on the first frequency domain response, the inverse signal frequency domain analysis of the chirp signal in the frequency band of 5 Hz to 150 Hz, and formula (2). After obtaining the first response function, a first kernel function can be obtained based on the first response function and formula (3). After obtaining the first kernel function, a high-order harmonic frequency response of the first frequency band can be obtained based on the chirp signal in the frequency band of 5 Hz to 150 Hz, the first kernel function, and formula (4).

[0154] Similarly, in an embodiment of the present invention, after obtaining a chirp signal in the frequency band of 100 Hz to 5000 Hz, the chirp signal in the frequency band of 100 Hz to 500 Hz can be used to excite the motor to obtain a second output. After obtaining the second output, a second frequency domain response can be obtained based on the second output and formula (1). After obtaining the second frequency domain response, a second response function of the motor system can be obtained based on the second frequency domain response, the inverse signal frequency domain analysis of the chirp signal in the frequency band of 5 Hz to 150 Hz, and formula (2). After obtaining the second response function, a second kernel function can be obtained based on the second response function and formula (3). After obtaining the second kernel function, a high-order harmonic frequency response of the second frequency band can be obtained based on the chirp signal in the frequency band of 5 Hz to 150 Hz, the second kernel function, and formula (4).

[0155] 207. Obtain a third preset frequency, where the third preset frequency is between the first preset frequency and the second preset frequency.

[0156] The third preset frequency can be set by technicians based on experience or experiments. For example, assuming the first preset frequency is 100 Hz and the second preset frequency is 150 Hz, the third preset frequency can be 120 Hz, 130 Hz, etc.

[0157] In some embodiments, when identifying the linear motor system model in the low frequency band (5Hz to 150Hz), inaccurate identification results may occur in the frequency range of 140Hz to 150Hz; when identifying the linear motor system model in the high frequency band (100Hz to 500Hz), the identification results may decrease from 100Hz to 110Hz. To eliminate this inaccuracy, when the first preset frequency is less than or equal to 110Hz and the second preset frequency is greater than or equal to 140Hz, a third preset frequency may be selected from the frequency range of 110Hz to 140Hz. For example, the third preset frequency may be 120Hz, 125Hz, or 130Hz. In some embodiments, to further improve accuracy, when selecting the third preset frequency from the frequency range of 110Hz to 140Hz, the endpoint values, i.e., 110Hz and 140Hz, may not be selected as the third preset frequency.

[0158] 208. Extract a higher harmonic frequency response of a third frequency band from the higher harmonic frequency response of the first frequency band, wherein the starting frequency of the third frequency band is the starting frequency of the first frequency band, and the cutoff frequency of the third frequency band is a third preset frequency.

[0159] 209. Extract a fourth frequency band of higher harmonic frequency responses from the second frequency band, wherein the starting frequency of the fourth frequency band is the third preset frequency, and the cutoff frequency of the fourth frequency band is the cutoff frequency of the second frequency band.

[0160] For example, assuming that the operating frequency band of the motor is 5Hz to 500Hz, the third preset frequency is 120Hz, the high-order harmonic frequency response of the first frequency band is the high-order harmonic frequency response of the frequency band 5Hz to 150Hz, and the high-order harmonic frequency response of the second frequency band is the high-order harmonic frequency response of the frequency band 100Hz to 500Hz, then the high-order harmonic frequency response of the third frequency band is the high-order harmonic frequency response of the frequency band 5Hz to 120Hz, and the high-order harmonic frequency response of the fourth frequency band is the high-order harmonic frequency response of the frequency band 120Hz to 500Hz.

[0161] 210. The high-order harmonic frequency response of the third frequency band and the high-order harmonic frequency response of the fourth frequency band are spliced in the frequency domain to obtain the high-order harmonic frequency response of the working frequency band of the motor. The high-order harmonic frequency response of the working frequency band of the motor is a nonlinear system model of the motor.

[0162] For example, assuming the third frequency band has a higher harmonic frequency response of 5 Hz to 120 Hz, and the fourth frequency band has a higher harmonic frequency response of 120 Hz to 500 Hz, the higher harmonic frequency response of 5 Hz to 120 Hz and 120 Hz to 500 Hz can be concatenated in the frequency domain to obtain a higher harmonic frequency response of 5 Hz to 500 Hz. This higher harmonic frequency response of 5 Hz to 500 Hz can serve as a nonlinear system model for the linear motor.

[0163] Please also refer to Figures 3 to 6 , Figure 3 This is a schematic diagram of the first test result provided by an embodiment of the present invention. Figure 4 This is a schematic diagram of the second test result provided by an embodiment of the present invention. Figure 5 This is a schematic diagram of the third test result provided by an embodiment of the present invention. Figure 6 This is a schematic diagram of the fourth test result provided by an embodiment of the present invention.

[0164] Among them, the first test result is: directly using the chirp signal of the motor's working frequency band (5Hz to 500Hz frequency band) to stimulate the motor of model AAC SLA1010#, and obtaining the corresponding output, and based on the corresponding output and the chirp signal of the 5Hz to 500Hz frequency band, obtaining the test result of the high-order harmonic frequency response of the motor's working frequency band. Among them, A1 represents the error value between the measured value and the model value. It can be seen that the test result of the high-order harmonic frequency response of the motor's working frequency band obtained by directly using the chirp signal of the motor's working frequency band to stimulate the motor has a large error in the 5Hz to 120Hz frequency band. Among them, in Figure 3 In the figure, the horizontal axis represents frequency, and the vertical axis represents acceleration. The chirp signal in the motor's operating frequency band (5 Hz to 500 Hz) is directly used to excite the AAC SLA1010# motor, obtaining a corresponding output. Based on this corresponding output and the chirp signal in the 5 Hz to 500 Hz frequency band, the high-order harmonic frequency response of the motor's operating frequency band is obtained. This is the process of systematically identifying the chirp signal as the motor's operating frequency band excitation signal and then modeling the nonlinear system model of the motor in the related art.

[0165] The second test result is: the chirp signal of the first frequency band (5Hz to 150Hz frequency band) in the working frequency band of the motor (5Hz to 500Hz frequency band) is used to excite the motor of model AAC SLA1010# to obtain the first output, and the test result of the high-order harmonic frequency response of the 5Hz to 150Hz frequency band is obtained based on the first output and the chirp signal of the 5Hz to 150Hz frequency band. Among them, A2 represents the error value between the measured value and the model value. It can be seen that the test result of the high-order harmonic frequency response of the 5Hz to 150Hz frequency band finally obtained by exciting the motor with the chirp signal of the 5Hz to 150Hz frequency band has a small error in the 5Hz to 150Hz frequency band. Among them, in Figure 4 In the figure, the horizontal axis represents frequency and the vertical axis represents acceleration.

[0166] The third test result is: the chirp signal of the second frequency band (100Hz to 500Hz frequency band) in the working frequency band of the motor (5Hz to 500Hz frequency band) is used to excite the motor of model AAC SLA1010# to obtain a second output, and based on the second output and the chirp signal of the 100Hz to 500Hz frequency band, the test result of the high-order harmonic frequency response of the 100Hz to 500Hz frequency band is obtained. Among them, A3 represents the error value between the measured value and the model value. It can be seen that in the test result of the high-order harmonic frequency response of the 100Hz to 500Hz frequency band finally obtained by exciting the motor with the chirp signal of the 100Hz to 500Hz frequency band, there is a large error only in the 100Hz to 110Hz frequency band, while there is a small error in the 110Hz to 500Hz frequency band. Among them, in Figure 5 In the figure, the horizontal axis represents frequency and the vertical axis represents acceleration.

[0167] The fourth test result is: intercepting the high-order harmonic frequency response of the 5Hz to 120Hz frequency band in the high-order harmonic frequency response of the 5Hz to 150Hz frequency band, and intercepting the high-order harmonic frequency response of the 120Hz to 500Hz frequency band in the high-order harmonic frequency response of the 100Hz to 500Hz frequency band; splicing the high-order harmonic frequency response of the 5Hz to 120Hz frequency band and the high-order harmonic frequency response of the 120Hz to 500Hz frequency band in the frequency domain, and obtaining the test result of the high-order harmonic frequency response of the working frequency band of the motor (5Hz to 500Hz frequency band). Among them, A4 represents the error value between the measured value and the model value. It can be seen that in the test result of the high-order harmonic frequency response of the working frequency band of the motor finally obtained by splicing, there is a small error in the working frequency band of the motor (5Hz to 500Hz frequency band). Among them, in Figure 6 In the figure, the horizontal axis represents frequency and the vertical axis represents acceleration.

[0168] See also Figure 7 , Figure 7 A third flow chart of the nonlinear system modeling method for a motor provided by an embodiment of the present invention. The flow chart may include:

[0169] 301. Obtain chirp signals of multiple different frequency bands in the working frequency band of the motor, wherein, among the multiple different frequency bands, there is a frequency band whose starting frequency is the starting frequency of the working frequency band of the motor, and there is a frequency band whose cutoff frequency is the cutoff frequency of the working frequency band of the motor, and multiple different frequency bands can form the working frequency band of the motor.

[0170] In an embodiment of the present invention, the operating frequency band of the motor can be divided into multiple different frequency bands. For example, assuming the operating frequency band of the motor is 5 Hz to 500 Hz, the operating frequency band of the motor can be divided into three different frequency bands: the first frequency band can be 5 Hz to 150 Hz, the second frequency band can be 100 Hz to 300 Hz, and the third frequency band can be 200 Hz to 500 Hz. These three different frequency bands can form the operating frequency band of the motor.

[0171] In some embodiments, assuming that the multiple different frequency bands are three different frequency bands, a technician may set a fifth preset frequency, a sixth preset frequency, and a seventh preset frequency based on experience or experimentation, wherein the fifth preset frequency is less than the sixth preset frequency, and the sixth preset frequency is less than the seventh preset frequency. The first frequency band may be determined based on multiple frequencies within the motor's operating frequency band that are less than or equal to the sixth preset frequency; the second frequency band may be determined based on multiple frequencies within the motor's operating frequency band that are greater than or equal to the fifth preset frequency and less than or equal to the seventh preset frequency; and the third frequency may be determined based on multiple frequencies within the motor's operating frequency band that are greater than or equal to the seventh preset frequency.

[0172] It should be noted that how to determine multiple different frequency bands can be found in other embodiments and will not be described in detail here.

[0173] Acquiring chirp signals for multiple different frequency bands within the motor's operating frequency band can be as follows: assuming there are three different frequency bands, the first being 5 Hz to 150 Hz, the second being 100 Hz to 300 Hz, and the third being 200 Hz to 500 Hz. Then, chirp signals for the 5 Hz to 150 Hz band, the 100 Hz to 300 Hz band, and the 200 Hz to 500 Hz band can be acquired. The specific method for acquiring chirp signals for each frequency band can be found in other embodiments and will not be repeated here.

[0174] It should be noted that, in the embodiment of the present invention, a plurality includes “three” and more than “three”.

[0175] 302. Use the chirp signal of each frequency band to excite the motor and obtain the output corresponding to each frequency band.

[0176] 303. Obtain a higher harmonic frequency response of each frequency band according to the output corresponding to each frequency band and the chirp signal of each frequency band, so as to obtain higher harmonic frequency responses of multiple frequency bands.

[0177] Assume that there are three different frequency bands, the first frequency band is 5Hz to 150Hz, the second frequency band is 100Hz to 300Hz, and the third frequency band is 200Hz to 500Hz. The chirp signal in the 5Hz to 150Hz frequency band can be used to excite the motor to obtain the first output, and based on the first output and the chirp signal in the 5Hz to 150Hz frequency band, the high-order harmonic frequency response in the 5Hz to 150Hz frequency band can be obtained; the chirp signal in the 100Hz to 300Hz frequency band can be used to excite the motor to obtain the first output. The motor can be excited by the chirp signal in the frequency band of 200Hz to 500Hz to obtain a third output, and based on the third output and the chirp signal in the frequency band of 200Hz to 500Hz, a high-order harmonic frequency response in the frequency band of 200Hz to 500Hz can be obtained, thereby obtaining high-order harmonic frequency responses in three frequency bands.

[0178] It should be noted that how to obtain the high-order harmonic frequency response of each frequency band according to the output corresponding to each frequency band and the chirp signal of each frequency band can be found in other embodiments and will not be described in detail here.

[0179] 304. In the frequency domain, high-order harmonic frequency responses of multiple frequency bands are spliced together to obtain a high-order harmonic frequency response of the working frequency band of the motor. The high-order harmonic frequency response of the working frequency band of the motor is a nonlinear system model of the motor.

[0180] For example, assuming that high-order harmonic frequency responses are obtained for the 5Hz to 150Hz frequency band, the 100Hz to 300Hz frequency band, and the 200Hz to 500Hz frequency band, the high-order harmonic frequency responses for the 5Hz to 150Hz frequency band, the 100Hz to 300Hz frequency band, and the 200Hz to 500Hz frequency band can be concatenated in the frequency domain to obtain the high-order harmonic frequency response for the 5Hz to 500Hz frequency band, i.e., the high-order harmonic frequency response for the motor's operating frequency band. This high-order harmonic frequency response for the motor's operating frequency band represents a nonlinear system model of the motor, such as a linear motor.

[0181] It should be noted that the embodiment of the present invention does not limit the specific splicing method. Any splicing method can be used to splice the high-order harmonic frequency responses of multiple frequency bands in the frequency domain to obtain the high-order harmonic frequency responses of the motor's operating frequency band.

[0182] It can be understood that the nonlinear system model based on the linear motor can achieve precise control of the linear motor system.

[0183] See also Figure 8 , Figure 8 A first structural diagram of a nonlinear system modeling device for a motor provided by an embodiment of the present invention is shown. The nonlinear system modeling device 400 for a motor may include: an acquisition module 401 , a first excitation module 402 , a second excitation module 403 , and a splicing module 404 .

[0184] The acquisition module 401 is used to acquire the chirp signal of the first frequency band in the working frequency band of the motor and the chirp signal of the second frequency band in the working frequency band of the motor, the starting frequency of the first frequency band is the starting frequency of the working frequency band of the motor, the cutoff frequency of the second frequency band is the cutoff frequency of the working frequency band of the motor, and the first frequency band and the second frequency band partially overlap.

[0185] The first excitation module 402 is configured to excite the motor using the chirp signal in the first frequency band to obtain a first output, and obtain a high-order harmonic frequency response in the first frequency band based on the first output and the chirp signal in the first frequency band.

[0186] The second excitation module 403 is used to excite the motor using the chirp signal in the second frequency band to obtain a second output, and obtain a high-order harmonic frequency response in the second frequency band based on the second output and the chirp signal in the second frequency band.

[0187] The splicing module 404 is used to splice the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band in the frequency domain to obtain the high-order harmonic frequency response of the working frequency band of the motor, where the high-order harmonic frequency response of the working frequency band of the motor is a nonlinear system model of the motor.

[0188] In some embodiments, the acquisition module 401 may be configured to: acquire a first preset frequency and a second preset frequency, wherein the first preset frequency is less than the second preset frequency; determine a frequency band of the motor's operating frequency band that is less than or equal to the second preset frequency as a first frequency band; and determine a frequency band of the motor's operating frequency band that is greater than or equal to the first preset frequency as a second frequency band;

[0189] The splicing module 404 can be used to: obtain a third preset frequency, which is between the first preset frequency and the second preset frequency; cut out the high-order harmonic frequency response of the third frequency band from the high-order harmonic frequency response of the first frequency band, the starting frequency of the third frequency band is the starting frequency of the first frequency band, and the cutoff frequency of the third frequency band is the third preset frequency; cut out the high-order harmonic frequency response of the fourth frequency band from the high-order harmonic frequency response of the second frequency band, the starting frequency of the fourth frequency band is the third preset frequency, and the cutoff frequency of the fourth frequency band is the cutoff frequency of the second frequency band; splice the high-order harmonic frequency response of the third frequency band and the high-order harmonic frequency response of the fourth frequency band in the frequency domain to obtain the high-order harmonic frequency response of the working frequency band of the motor.

[0190] In some embodiments, the acquisition module 401 can be used to: obtain a fourth preset frequency; determine a frequency band in the working frequency band of the motor that is less than or equal to the fourth preset frequency as a first frequency band; and determine a frequency band in the working frequency band of the motor that is greater than or equal to the fourth preset frequency as a second frequency band.

[0191] In some embodiments, the first excitation module 402 may be configured to: perform a Fourier transform on the first output to obtain a first frequency domain response; perform frequency domain analysis to calculate a first response function of the motor system using an inverse signal of the chirp signal in the first frequency band based on the first frequency domain response; perform a transformation matrix transformation using the first response function to obtain a first kernel function; and obtain a high-order harmonic frequency response of the first frequency band using the chirp signal in the first frequency band and the first kernel function.

[0192] The second excitation module 403 can be used to: use Fourier transform to obtain a second frequency domain response on the second output; use the inverse signal frequency domain analysis of the chirp signal of the second frequency band to calculate the second response function of the motor system according to the second frequency domain response; use the second response function to obtain a second kernel function through conversion matrix conversion; obtain the high-order harmonic frequency response of the second frequency band from the chirp signal of the second frequency band and the second kernel function.

[0193] In some embodiments, the chirp signal is calculated using the following formula:

[0194]

[0195]

[0196] Among them, f1 is the starting frequency of the chirp signal, a(t) is the amplitude, t is time, that is, a(t) is a function of the frequency that changes with time, T is the duration of the chirp signal, and f2 is the cutoff frequency of the chirp signal.

[0197] See also Figure 9 , Figure 9 A second structural diagram of the nonlinear system modeling device for a motor provided by an embodiment of the present invention is shown in FIG. The nonlinear system modeling device 500 for a motor may include: an acquisition module 501 , an excitation module 502 , a processing module 503 , and a splicing module 504 .

[0198] An acquisition module 501 is used to acquire chirp signals of multiple different frequency bands in the working frequency band of the motor, wherein, among the multiple different frequency bands, there is a frequency band whose starting frequency is the starting frequency of the working frequency band of the motor, and there is a frequency band whose cutoff frequency is the cutoff frequency of the working frequency band of the motor, and multiple different frequency bands can form the working frequency band of the motor.

[0199] The excitation module 502 is used to excite the motor using the chirp signal of each frequency band to obtain an output corresponding to each frequency band.

[0200] The processing module 503 is configured to obtain the higher harmonic frequency response of each frequency band according to the output corresponding to each frequency band and the chirp signal of each frequency band, so as to obtain the higher harmonic frequency responses of multiple frequency bands.

[0201] The splicing module 504 is used to splice the higher harmonic frequency responses of the multiple frequency bands in the frequency domain to obtain the higher harmonic frequency response of the working frequency band of the motor, where the higher harmonic frequency response of the working frequency band of the motor is the nonlinear system model of the motor.

[0202] Figure 10 Schematic diagram of the structure of the electronic device provided by the embodiment of the present invention. Figure 10 As shown, the electronic device 600 of this embodiment includes: a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and executable on the processor 601, such as a nonlinear system modeling program for a motor. When the processor 601 executes the computer program 603, the steps of the above-mentioned various embodiments of the nonlinear system modeling method for a motor are implemented, such as Figure 1 Alternatively, when the processor 601 executes the computer program 603, the functions of the modules in the above-mentioned device embodiments are realized, for example, Figure 8 Functions of modules 401 to 402 are shown.

[0203] Exemplarily, the computer program 603 can be divided into one or more modules / units, which are stored in the memory 602 and executed by the processor 601 to implement the present invention. The one or more modules / units can be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program 603 in the electronic device 600. For example, the computer program 603 can be divided into an acquisition module, a first excitation module, a second excitation module, and a splicing module (a unit module in a virtual device), and the specific functions of each module are as follows:

[0204] An acquisition module is used to acquire a chirp signal of a first frequency band in the working frequency band of the motor and a chirp signal of a second frequency band in the working frequency band of the motor, wherein the starting frequency of the first frequency band is the starting frequency of the working frequency band of the motor, the cutoff frequency of the second frequency band is the cutoff frequency of the working frequency band of the motor, and the first frequency band and the second frequency band partially overlap.

[0205] The first excitation module is used to excite the motor using the chirp signal in the first frequency band to obtain a first output, and obtain a high-order harmonic frequency response in the first frequency band based on the first output and the chirp signal in the first frequency band.

[0206] The second excitation module is used to excite the motor using the chirp signal in the second frequency band to obtain a second output, and obtain a high-order harmonic frequency response in the second frequency band based on the second output and the chirp signal in the second frequency band.

[0207] A splicing module is used to splice the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band in the frequency domain to obtain the high-order harmonic frequency response of the working frequency band of the motor, where the high-order harmonic frequency response of the working frequency band of the motor is a nonlinear system model of the motor.

[0208] The electronic device 600 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device 600 may include, but is not limited to, a processor 601 and a memory 602. Those skilled in the art will appreciate that Figure 10 It is only an example of the electronic device 600 and does not constitute a limitation of the electronic device 600. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 600 may also include input and output devices, network access devices, buses, etc.

[0209] The processor 601 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0210] The memory 602 may be an internal storage unit of the electronic device 600, such as a hard disk or memory of the electronic device 600. The memory 602 may also be an external storage device of the electronic device 600, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital Card (SD), a Flash Card, etc. equipped on the electronic device 600. Furthermore, the memory 602 may include both an internal storage unit of the electronic device 600 and an external storage device. The memory 602 is used to store the computer program and other programs and data required by the electronic device 600. The memory 602 may also be used to temporarily store data that has been output or is about to be output.

[0211] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the electronic device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0212] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0213] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0214] In the embodiments provided by the present invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0215] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0216] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0217] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by a computer program to instruct the relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0218] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0219] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0220] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A nonlinear system modeling method for a motor, characterized in that: include: Obtain a chirp signal of a first frequency band in the operating frequency band of the motor and a chirp signal of a second frequency band in the operating frequency band of the motor, where a start frequency of the first frequency band is the start frequency of the operating frequency band of the motor, a cutoff frequency of the second frequency band is the cutoff frequency of the operating frequency band of the motor, and the first frequency band and the second frequency band partially overlap; Exciting the motor using the chirp signal in the first frequency band to obtain a first output, and obtaining a high-order harmonic frequency response in the first frequency band based on the first output and the chirp signal in the first frequency band; Exciting the motor using the chirp signal in the second frequency band to obtain a second output, and obtaining a high-order harmonic frequency response in the second frequency band based on the second output and the chirp signal in the second frequency band; splicing the higher harmonic frequency response of the first frequency band and the higher harmonic frequency response of the second frequency band in the frequency domain to obtain the higher harmonic frequency response of the working frequency band of the motor, wherein the higher harmonic frequency response of the working frequency band of the motor is a nonlinear system model of the motor; The method further comprises: Obtaining a first preset frequency and a second preset frequency, wherein the first preset frequency is less than the second preset frequency; Determining a frequency band of the motor's operating frequency band that is less than or equal to the second preset frequency as a first frequency band; Determining a frequency band greater than or equal to the first preset frequency in the operating frequency band of the motor as a second frequency band; The step of splicing the higher harmonic frequency response of the first frequency band and the higher harmonic frequency response of the second frequency band in the frequency domain to obtain the higher harmonic frequency response of the working frequency band of the motor includes: Acquire a third preset frequency, where the third preset frequency is between the first preset frequency and the second preset frequency; Extracting a higher harmonic frequency response of a third frequency band from the higher harmonic frequency response of the first frequency band, wherein the starting frequency of the third frequency band is the starting frequency of the first frequency band, and the cutoff frequency of the third frequency band is the third preset frequency; Extracting a higher harmonic frequency response of a fourth frequency band from the higher harmonic frequency response of the second frequency band, wherein the starting frequency of the fourth frequency band is the third preset frequency, and the cutoff frequency of the fourth frequency band is the cutoff frequency of the second frequency band; The higher harmonic frequency response of the third frequency band and the higher harmonic frequency response of the fourth frequency band are spliced in the frequency domain to obtain the higher harmonic frequency response of the working frequency band of the motor.

2. The nonlinear system modeling method of a motor according to claim 1, wherein: The method further comprises: Obtaining a fourth preset frequency; Determining a frequency band of the motor's operating frequency band that is less than or equal to the fourth preset frequency as a first frequency band; A frequency band in the operating frequency band of the motor that is greater than or equal to the fourth preset frequency is determined as a second frequency band.

3. The nonlinear system modeling method of a motor according to claim 1, wherein: The step of obtaining a high-order harmonic frequency response of the first frequency band according to the first output and the chirp signal of the first frequency band includes: Applying Fourier transform to the first output to obtain a first frequency domain response; Calculating a first response function of the motor system using the inverse signal of the chirp signal in the first frequency band in the frequency domain according to the first frequency domain response; Using the first response function to obtain a first kernel function through conversion matrix conversion; Obtaining a higher harmonic frequency response of the first frequency band based on the chirp signal of the first frequency band and the first kernel function; The step of obtaining a high-order harmonic frequency response in the second frequency band according to the second output and the chirp signal in the second frequency band includes: Applying Fourier transform to the second output to obtain a second frequency domain response; Calculating a second response function of the motor system using the inverse signal of the chirp signal in the second frequency band in the frequency domain according to the second frequency domain response; Using the second response function to obtain a second kernel function through transformation matrix conversion; A high-order harmonic frequency response of the second frequency band is obtained by using the chirp signal of the second frequency band and the second kernel function.

4. The nonlinear system modeling method of a motor according to claim 1, wherein: The chirp signal is calculated using the following formula: Among them, f1 is the starting frequency of the chirp signal, a(t) is the amplitude, t is time, that is, a(t) is a function of the frequency that changes with time, T is the duration of the chirp signal, and f2 is the cutoff frequency of the chirp signal.

5. A nonlinear system modeling method for a motor, characterized in that: include: Acquire chirp signals of multiple different frequency bands within the operating frequency band of the motor, wherein among the multiple different frequency bands, a starting frequency of one frequency band is the starting frequency of the operating frequency band of the motor, and a cutoff frequency of one frequency band is the cutoff frequency of the operating frequency band of the motor, and the multiple different frequency bands form the operating frequency band of the motor; Using the chirp signal of each frequency band to excite the motor, and obtaining the output corresponding to each frequency band; Obtaining a high-order harmonic frequency response of each frequency band according to the output corresponding to each frequency band and the chirp signal of each frequency band, so as to obtain high-order harmonic frequency responses of multiple frequency bands; splicing the higher harmonic frequency responses of the plurality of frequency bands in the frequency domain to obtain the higher harmonic frequency response of the working frequency band of the motor, wherein the higher harmonic frequency response of the working frequency band of the motor is a nonlinear system model of the motor; The method further comprises: Obtaining a first preset frequency and a second preset frequency, wherein the first preset frequency is less than the second preset frequency; Determining a frequency band of the motor's operating frequency band that is less than or equal to the second preset frequency as a first frequency band; Determining a frequency band greater than or equal to the first preset frequency in the operating frequency band of the motor as a second frequency band; The step of splicing the higher harmonic frequency response of the first frequency band and the higher harmonic frequency response of the second frequency band in the frequency domain to obtain the higher harmonic frequency response of the working frequency band of the motor includes: Acquire a third preset frequency, where the third preset frequency is between the first preset frequency and the second preset frequency; Extracting a higher harmonic frequency response of a third frequency band from the higher harmonic frequency response of the first frequency band, wherein the starting frequency of the third frequency band is the starting frequency of the first frequency band, and the cutoff frequency of the third frequency band is the third preset frequency; Extracting a higher harmonic frequency response of a fourth frequency band from the higher harmonic frequency response of the second frequency band, wherein the starting frequency of the fourth frequency band is the third preset frequency, and the cutoff frequency of the fourth frequency band is the cutoff frequency of the second frequency band; The higher harmonic frequency response of the third frequency band and the higher harmonic frequency response of the fourth frequency band are spliced in the frequency domain to obtain the higher harmonic frequency response of the working frequency band of the motor.

6. A nonlinear system modeling device for a motor, characterized in that: include: An acquisition module is used to acquire a chirp signal of a first frequency band in the working frequency band of the motor and a chirp signal of a second frequency band in the working frequency band of the motor, wherein the starting frequency of the first frequency band is the starting frequency of the working frequency band of the motor, the cutoff frequency of the second frequency band is the cutoff frequency of the working frequency band of the motor, and the first frequency band and the second frequency band partially overlap; the acquisition module is further used to acquire a first preset frequency and a second preset frequency, the first preset frequency being less than the second preset frequency; a frequency band in the working frequency band of the motor that is less than or equal to the second preset frequency is determined as a first frequency band; and a frequency band in the working frequency band of the motor that is greater than or equal to the first preset frequency is determined as a second frequency band; a first excitation module, configured to excite the motor using the chirp signal in the first frequency band to obtain a first output, and obtain a high-order harmonic frequency response in the first frequency band based on the first output and the chirp signal in the first frequency band; a second excitation module, configured to excite the motor using the chirp signal in the second frequency band to obtain a second output, and obtain a high-order harmonic frequency response in the second frequency band based on the second output and the chirp signal in the second frequency band; A splicing module is used to splice the high-order harmonic frequency response of the first frequency band and the high-order harmonic frequency response of the second frequency band in the frequency domain to obtain the high-order harmonic frequency response of the working frequency band of the motor, wherein the high-order harmonic frequency response of the working frequency band of the motor is a nonlinear system model of the motor; the splicing module is also used to obtain a third preset frequency, wherein the third preset frequency is between the first preset frequency and the second preset frequency; the high-order harmonic frequency response of the third frequency band is cut off from the high-order harmonic frequency response of the first frequency band, wherein the starting frequency of the third frequency band is the starting frequency of the first frequency band, and the cutoff frequency of the third frequency band is the third preset frequency; the high-order harmonic frequency response of the fourth frequency band is cut off from the high-order harmonic frequency response of the second frequency band, wherein the starting frequency of the fourth frequency band is the third preset frequency, and the cutoff frequency of the fourth frequency band is the cutoff frequency of the second frequency band; and the high-order harmonic frequency response of the third frequency band and the high-order harmonic frequency response of the fourth frequency band are spliced in the frequency domain to obtain the high-order harmonic frequency response of the working frequency band of the motor.

7. A nonlinear system modeling device for a motor, characterized in that: include: An acquisition module is used to acquire chirp signals of multiple different frequency bands in the working frequency band of the motor, wherein, among the multiple different frequency bands, a starting frequency of one frequency band is the starting frequency of the working frequency band of the motor, and a cutoff frequency of one frequency band is the cutoff frequency of the working frequency band of the motor, and the multiple different frequency bands form the working frequency band of the motor; the acquisition module is further used to acquire a first preset frequency and a second preset frequency, the first preset frequency being less than the second preset frequency; determining a frequency band in the working frequency band of the motor that is less than or equal to the second preset frequency as a first frequency band; and determining a frequency band in the working frequency band of the motor that is greater than or equal to the first preset frequency as a second frequency band; An excitation module, configured to excite the motor using the chirp signal of each frequency band to obtain an output corresponding to each frequency band; a processing module, configured to obtain a higher harmonic frequency response of each frequency band according to the output corresponding to each frequency band and the chirp signal of each frequency band, so as to obtain higher harmonic frequency responses of a plurality of frequency bands; A splicing module is used to splice the higher harmonic frequency responses of multiple frequency bands in the frequency domain to obtain the higher harmonic frequency response of the working frequency band of the motor, wherein the higher harmonic frequency response of the working frequency band of the motor is a nonlinear system model of the motor; the splicing module is also used to obtain a third preset frequency, wherein the third preset frequency is between the first preset frequency and the second preset frequency; the higher harmonic frequency response of the third frequency band is cut out from the higher harmonic frequency response of the first frequency band, wherein the starting frequency of the third frequency band is the starting frequency of the first frequency band, and the cutoff frequency of the third frequency band is the third preset frequency; the higher harmonic frequency response of the fourth frequency band is cut out from the higher harmonic frequency response of the second frequency band, wherein the starting frequency of the fourth frequency band is the third preset frequency, and the cutoff frequency of the fourth frequency band is the cutoff frequency of the second frequency band; the higher harmonic frequency response of the third frequency band and the higher harmonic frequency response of the fourth frequency band are spliced in the frequency domain to obtain the higher harmonic frequency response of the working frequency band of the motor.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein: When the processor executes the computer program, the steps of the nonlinear system modeling method of a motor according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the nonlinear system modeling method of a motor according to any one of claims 1 to 5 are implemented.

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